| 主权项 |
1. An articulation module for robot having a housing, wherein hollowed interior of the housing comprises:
a motor fixed on the housing for providing a power to rotate a shaft; an encoder for detecting a rotation angle of the shaft; a reducer rotated by the shaft, wherein through the use of a reduction mechanism, the reducer enables the shaft to output a lower rotation speed by which the shaft is rotated, and a passive element rotated by the shaft being sleeved on a peripheral of the reduction mechanism; a plurality of buffer springs sleeved on a peripheral of the passive element, wherein one end of the buffer springs is fixed on the passive element such that the buffer springs are rotated along with the passive element; a drive flange having a plurality of through holes, wherein a portion of the through holes is connected to one end of the buffer springs and rotated with the buffer springs, and another portion of the through holes is connected to a loading; and a sensor for detecting a rotation angle of the drive flange, wherein the sensor is ring-shaped with its inner ring being sleeved on the peripheral of buffer springs and its outer ring being fixed on an inner lateral side of the housing. |
